随机环境载荷下的无人艇轨迹跟踪控制OACHSSCD

The trajectory tracking control problem of unmanned surface vehicles(USVs)with unknown stochastic environmental disturbances was studied.Firstly,based on the theory of stochastic differential e-quations,a system dynamic model incorporating stochastic disturbance terms is established to accurately characterize the influence of environmental disturbances on the USVs motion trajectory.Secondly,a ro-bust trajectory tracking controller is designed based on the backstepping control method.The designed controller can ensure that the actual trajectory of the USVs asymptotically tracks any given reference traj-ectory with the desired precision.Then,it is rigorously proven that all signals in the closed-loop system satisfy global uniform ultimate boundedness.Finally,numerical simulations are conducted to verify the ef-fectiveness and robustness of the trajectory tracking controller.